Talking to people;discussions;discussion;

Well like the title said "talking to people" is what I want to talk about right now.
I've never had good talking skills. If some people are talking nearbye and I have something I want to add or ask them about ... I just feel like I'll be butting in, being rude, or just get in the way and when some one talks to me or I talk to some one else it all just seems to slowly come to a stop.
I think I know the steps to having an actual conversation with some one but my mouth just doesn't want to work.